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Motion Control

7324/7314Hardware User Manual7324/7314 Hardware User Manual

July 1999 EditionPart Number 322503A-01

Worldwide Technical Support and Product Information

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For further support information, see the Technical Support Resources appendix. To comment on the documentation, send e-mail to [email protected] .

© Copyright 1999 National Instruments Corporation. All rights reserved.

Important Information

WarrantyThe 7324/7314 stepper motion control boards are warranted against defects in materials and workmanship for a period of one year from the date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace equipment that proves to be defective during the warranty period. This warranty includes parts and labor.

The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to defects in materials and workmanship, for a period of 90 days from date of shipment, as evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period. National Instruments does not warrant that the operation of the software shall be uninterrupted or error free.

A Return Material Authorization (RMA) number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work. National Instruments will pay the shipping costs of returning to the owner parts which are covered by warranty.

National Instruments believes that the information in this document is accurate. The document has been carefully reviewed for technical accuracy. In the event that technical or typographical errors exist, National Instruments reserves the right to make changes to subsequent editions of this document without prior notice to holders of this edition. The reader should consult National Instruments if errors are suspected. In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it.

EXCEPT AS SPECIFIED HEREIN, NATIONAL INSTRUMENTS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. CUSTOMER’ S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL INSTRUMENTS SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER. NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING FROM LOSS OF DATA, PROFITS, USE OF PRODUCTS, OR INCIDENTAL OR CONSEQUENTIAL DAMAGES, EVEN IF ADVISED OF THE POSSIBILITY THEREOF. This limitation of the liability of National Instruments will apply regardless of the form of action, whether in contract or tort, including negligence. Any action against National Instruments must be brought within one year after the cause of action accrues. National Instruments shall not be liable for any delay in performance due to causes beyond its reasonable control. The warranty provided herein does not cover damages, defects, malfunctions, or service failures caused by owner’s failure to follow the National Instruments installation, operation, or maintenance instructions; owner’s modification of the product; owner’s abuse, misuse, or negligent acts; and power failure or surges, fire, flood, accident, actions of third parties, or other events outside reasonable control.

CopyrightUnder the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, storing in an information retrieval system, or translating, in whole or in part, without the prior written consent of National Instruments Corporation.

TrademarksBridgeVIEW™, CVI™, LabVIEW™, natinst.com ™, and ValueMotion™ are trademarks of National Instruments Corporation.

Product and company names mentioned herein are trademarks or trade names of their respective companies.

WARNING REGARDING MEDICAL AND CLINICAL USE OF NATIONAL INSTRUMENTS PRODUCTSNational Instruments products are not designed with components and testing for a level of reliability suitable for use in or in connection with surgical implants or as critical components in any life support systems whose failure to perform can reasonably be expected to cause significant injury to a human. Applications of National Instruments products involving medical or clinical treatment can create a potential for death or bodily injury caused by product failure, or by errors on the part of the user or application designer. Because each end-user system is customized and differs from National Instruments testing platforms and because a user or application designer may use National Instruments products in combination with other products in a manner not evaluated or contemplated by National Instruments, the user or application designer is ultimately responsible for verifying and validating the suitability of National Instruments products whenever National Instruments products are incorporated in a system or application, including, without limitation, the appropriate design, process and safety level of such system or application.

© National Instruments Corporation v 7324/7314 Hardware User Manual

Contents

About This ManualConventions ................................................................................................................... ixRelated Documentation..................................................................................................x

Chapter 1Introduction

About the 7324/7314 Controllers ..................................................................................1-1What You Need to Get Started ......................................................................................1-1Software Programming Choices ....................................................................................1-2National Instruments Application Software ..................................................................1-2Optional Equipment .......................................................................................................1-3Motion Signal and Motion I/O Connections..................................................................1-3

Chapter 2Configuration and Installation

Software Installation ......................................................................................................2-1Controller Configuration................................................................................................2-1Hardware Installation.....................................................................................................2-1

Chapter 3Hardware Overview

Functional Modes ..........................................................................................................3-2Trapezoidal Profile Position Control...............................................................3-2Velocity Control ..............................................................................................3-3Velocity Profiling ............................................................................................3-3Event-Based Motion Profiling.........................................................................3-3

Trajectory Parameters ....................................................................................................3-4Position Value Loading ...................................................................................3-4Velocity Value Loading ..................................................................................3-4Acceleration Value Loading............................................................................3-5

Contents

7324/7314 Hardware User Manual vi www.natinst.com

Chapter 4Signal Connections

Motion I/O Connector ................................................................................................... 4-2External Connector Wiring Recommendations .............................................. 4-3Bus Power Signal ............................................................................................ 4-4Trigger, Breakpoint, and Inhibit Signals......................................................... 4-4

Input Signals ..................................................................................... 4-4Output Signals .................................................................................. 4-4Wiring Concerns............................................................................... 4-5Jumper Configuration ....................................................................... 4-5I/O Port Hardware Circuit ................................................................ 4-6

Limit and Home Switches............................................................................... 4-7Wiring Concerns............................................................................... 4-7Limit and Home Switch Input Circuit .............................................. 4-8

Encoder Connections (7324 Controllers Only)............................................... 4-8Wiring Concerns............................................................................... 4-9Encoder Signals ................................................................................ 4-9Encoder Index Signal........................................................................ 4-9Encoder Signal Input Circuit ............................................................ 4-10

Digital I/O Connector .................................................................................................... 4-10ADC Inputs.................................................................................................................... 4-15

Appendix ASpecifications

Appendix BCable Connector Descriptions

Appendix CTechnical Support Resources

Glossary

Index

Contents

© National Instruments Corporation vii 7324/7314 Hardware User Manual

FiguresFigure 3-1. PCI Controller Parts Locator Diagram..................................................3-1Figure 3-2. PXI Controller Parts Locator Diagram..................................................3-2

Figure 4-1. 68-Pin Stepper Pin Assignment.............................................................4-2Figure 4-2. Trigger and Breakpoint Hardware Circuitry .........................................4-6Figure 4-3. Inhibit Hardware Circuitry ....................................................................4-6Figure 4-4. Limit Switch and Home Switch Input Hardware Circuitry...................4-8Figure 4-5. Quadrature Encoder Phasing Diagram..................................................4-8Figure 4-6. Encoder Feedback Input Hardware Circuitry........................................4-10Figure 4-7. 68-Pin Digital I/O Connector ................................................................4-11Figure 4-8. 50-Pin Digital I/O Connector ................................................................4-12Figure 4-9. Digital I/O Port Configuration ..............................................................4-13Figure 4-10. PCI- and PXI-Step Port C Direction Setting .........................................4-14Figure 4-11. External Pin Assignment for the 10-Pin ADC Connector.....................4-15

Figure B-1. 50-Pin Stepper Connector Pin Assignment ...........................................B-1

TablesTable 4-1. Signal Descriptions for I/O Connector Pins ..........................................4-3Table 4-2. Jumper Pin I/O Port Bit Correspondence..............................................4-5

© National Instruments Corporation ix 7324/7314 Hardware User Manual

About This Manual

This manual describes the electrical and mechanical aspects of each controller in the ValueMotion 7324/7314 family of controllers and contains information concerning their operation and programming. Unless otherwise noted, text applies to all controllers in the ValueMotion 7324/7314 family.

The 7324/7314 family includes the following motion controllers:

♦ Stepper (Open-Loop)

• PCI-7314

• PXI-7314

♦ Stepper (Closed-Loop)

• PCI-7324

• PXI-7324

The 7324/7314 stepper controllers are low-cost, high-performance controllers for PCI and PXI bus computers.

ConventionsThe following conventions appear in this manual:

<> Angle brackets that contain numbers separated by an ellipsis represent a range of values associated with a bit or signal name—for example, DBIO<3..0>.

♦ The ♦ symbol indicates that the following text applies only to a specific product, a specific operating system, or a specific software version.

This icon denotes a note, which alerts you to important information.

This icon denotes a caution, which advises you of precautions to take to avoid injury, data loss, or a system crash.

bold Bold text denotes items that you must select or click on in the software, such as menu items and dialog box options. Bold text also denotes parameter names.

About This Manual

7324/7314 Hardware User Manual x www.natinst.com

italic Italic text denotes variables, emphasis, a cross reference, or an introduction to a key concept. This font also denotes text that is a placeholder for a word or value that you must supply.

overline Indicates a signal is active-low.

7324 controller Refers to the ValueMotion PCI-7324 and the PXI-7324 closed-loop stepper controllers.

7314 controller Refers to the ValueMotion PCI-7314 and the PXI-7314 open-loop stepper controllers.

7324/7314 controller Refers to the ValueMotion PCI-7314, PXI-7314, PCI-7324, and PXI-7324 stepper controllers.

PCI controller Refers to the PCI-7324 and the PCI-7314 controllers.

PXI controller Refers to the PXI-7324 and the PXI-7314 controllers.

Related Documentation

The following documents contain information that you might find helpful as you read this manual:

• ValueMotion Software Reference Manual

• ValueMotion VI Online Help

• PCI Local Bus Specification, Revision 2.1

• Your computer’s technical reference manual

© National Instruments Corporation 1-1 7324/7314 Hardware User Manual

1Introduction

This chapter describes the ValueMotion 7324/7314 controllers and their operation.

About the 7324/7314 ControllersThank you for purchasing a National Instruments 7324/7314 motion controller. The 7324/7314 controllers are stepper motor controllers for PCI and PXI bus computers. These controllers provide fully programmable motion control for up to four independent axes of motors, with additional I/O for limit and home switches as well as other general-purpose functions. You can use these controllers in position or velocity control applications, with support for point-to-point position, velocity profiling, and event-based motion profiling modes.

The 7324 closed-loop controllers control stepper motors and can operate in open or closed-loop mode. They use quadrature encoders for position and velocity feedback, and clockwise (CW)/counter-clockwise (CCW) or step/direction digital outputs for command. The 7314 open-loop stepper controllers do not include the quadrature decoders and can operate only in open-loop mode. All controllers support full, half, and microstepping applications.

What You Need to Get StartedTo set up and use your 7324/7314 controller, you will need the following:

One of the 7324/7314 controllers

7324/7314 Hardware User Manual

One of the following software packages and documentation:

• BridgeVIEW—LabVIEW for Industrial Automation

• LabVIEW

• LabWindows/CVI

• ValueMotion Software (includes pcRunner)

Your computer with an available PCI or PXI slot, as appropriate

Chapter 1 Introduction

7324/7314 Hardware User Manual 1-2 www.natinst.com

Software Programming ChoicesYou have several options to choose from when programming your National Instruments 7324/7314 controllers. You can use National Instruments application software, ValueMotion VIs for LabVIEW and BridgeVIEW, or ValueMotion software.

Programming the 7324/7314 controller is straightforward using a simple but powerful high-level function set application programming interface (API). All setup and motion control functions are easily executed by calling into either a static or dynamically linked library (DLL). These libraries are callable from C, Visual Basic, and other high-level languages. Full function set implementations are available for LabVIEW, LabWindows/CVI, BridgeVIEW, and other industry-standard software programs.

National Instruments Application SoftwareLabVIEW and BridgeVIEW, based on the graphical programming language G, feature interactive graphics and a state-of-the-art user interface. In LabVIEW and BridgeVIEW, you can create 32-bit compiled programs and stand-alone executables for custom data acquisition, test, and measurement solutions. National Instruments offers the ValueMotion VI Library, a series of virtual instruments (VIs) for using LabVIEW or BridgeVIEW with National Instruments motion control hardware. This VI library implements the full function set API and a powerful set of demo functions, example programs, and fully operational, high-level application routines.

ANSI C-based LabWindows/CVI also features interactive graphics and a state-of-the-art user interface. Using LabWindows/CVI, you can generate C code for custom data acquisition, test, and measurement solutions. The ValueMotion software kit includes a series of functions for using LabWindows/CVI with National Instruments motion controllers.

Chapter 1 Introduction


Optional EquipmentNational Instruments offers a variety of products to use with 7324/7314 controllers, including cables, connector blocks, Universal Motion Interfaces (UMIs), driver amplifier units, and other accessories, as follows:

• Cables and cable assemblies

• Connector blocks, shielded and unshielded 68-pin screw terminals

• UMI connectivity blocks with integrated motion signal conditioning and motion inhibit functionality

• Stepper motor compatible driver amplifier units with integrated power supply and wiring connectivity

For more specific information about these products, refer to your National Instruments catalogue, the motion control product brochure, or call the office nearest you.

Motion Signal and Motion I/O ConnectionsYou access the motion I/O signals through an external 68-position connector on the 7324/7314. The PCI controllers use a high-density 68-pin female VHDCI connector. The PXI controllers use a 68-pin male SCSI-II type connector.

The 24-bit digital I/O port on the PCI controllers is accessed through an external high-density 68-pin female VHDCI connector. The digital port on the PXI controllers is accessed through an internal 50-pin male box-header connector.

The analog input signals on the PXI controllers are also available on an internal 10-pin male box-header connector.

You can use any compatible mating connector, including insulation displacement ribbon cable connectors and discrete wire mating connectors.


2Configuration and Installation

This chapter describes how to configure and install your 7324/7314 controller.

Software InstallationInstall your ValueMotion driver and pcRunner software, along with the VI libraries (if appropriate) before you install the 7324/7314 controller. Refer to the appropriate release notes and your software documentation for specific instructions on the software installation sequence.

Controller ConfigurationThere are two types of configuration to be performed on the controllers: bus-related and motion I/O-related configuration.

Both the PCI and PXI controllers are fully compatible with the PCI Local Bus Specification, Revision 2.1. This compatibility allows the computer to automatically perform all bus-related configuration and requires no user interaction. There are no jumpers to configure for bus-related configuration.

The motion I/O-related configuration includes such settings as limit switch polarity, I/O port direction, motion mechanical system properties, and others. Most of these settings are software configurable, while some require hardware jumpers to be configured properly. Refer to Chapter 4, Signal Connections, for motion I/O-related hardware jumper settings.

Hardware InstallationYou can install the 7324/7314 controller in any open +5 V PCI or PXI expansion slot in your computer. The following are general installation instructions, but consult your computer user manual or technical reference manual for specific instructions and warnings.

Chapter 2 Configuration and Installation


♦ PCI controllers

1. Turn off and unplug your computer.

2. Remove the top cover or access port to the I/O channel.

3. Remove the expansion slot cover on the back panel of the computer.

4. Insert the 7324/7314 controller into a 5 V PCI slot as appropriate. Gently rock the controller to ease it into place. It may be a tight fit, but do not force the controller into place.

5. If required, screw the mounting bracket of the 7324/7314 controller to the back panel rail of the computer.

6. Replace the cover.

7. Plug in and turn on your computer.

Your PCI controller is installed.

♦ PXI controllers

1. Turn off and unplug your chassis.

2. Choose an unused 5 V peripheral slot.

3. Remove the filler panel for the peripheral slot you have chosen.

4. Touch a metal part on your chassis to discharge any static electricity that might be on your clothes or body.

5. Insert the PXI controller into the slot. Use the injector/ejector handle to fully inject the device into place.

6. Screw the front panel of the PXI controller to the front panel mounting rails of the chassis.

7. Visually verify the installation.

8. Plug in and turn on the chassis.

Your PXI controller is installed.


3Hardware Overview

This chapter presents an overview of the hardware functionality of your 7324/7314 controller.

Figures 3-1 and 3-2 show the PCI and PXI parts locator diagrams.

Figure 3-1. PCI Controller Parts Locator Diagram

1 Serial Number2 Assembly Number3 Port C Direction Jumper

4 Input Jumpers5 Output Jumpers

6 68-Pin Digital I/O Connector7 68-Pin Motion I/O Connector

DIO

PCI-7324/14ASSY186357A-01

J2

J1

S/N+

C3

U3

4

JP20

JP19

JP1-4 JP5-8

JP9-12 JP13-16

RP

6

R

P8

RP

4

R

P1

1

D

P1

U19

RP

14

RP

12

RP

3

RP

5

RP

15

R

P1

3

RP

7

R

P1

0

U8

U7

U9

U35

DP2

U28

U36

U22

U33

RP2

U10

RP

1

P1

U1

U23

U38

RP

9

U17 U16

U31 U30

U

20

U6 U5

U26

U

12

U18

U32

U13 U14

U2 U3

U21

U27

U11

U24

U29

U4

U15

U37

C COPYRIGHT 1999

321

7

6

5 4

Chapter 3 Hardware Overview


Figure 3-2. PXI Controller Parts Locator Diagram

Functional Modes

Trapezoidal Profile Position Control The 7324/7314 controllers implement trapezoidal profile control. They provide point-to-point motion based on the difference between the current position and the desired target position using preprogrammed acceleration and velocity values. The trapezoidal motion profile is calculated based on the move duration, maximum velocity, and desired acceleration. Motion occurs first with a programmable acceleration, then for a period at a constant velocity (if possible) and finally with a preprogrammed deceleration to the desired target position. You can interrupt motion by halt-stopping via a limit or home switch input or you can execute a stop or kill function. The controllers also have a programmable acceleration factor that boosts the acceleration at low speeds to match the inherent torque versus speed characteristics of stepper motor systems.

1 A/D Converter Input 10-Pin Connector

2 50-Pin Digital I/O Connector

3 Port C Direction Jumper4 Assembly Number5 Input Jumpers

6 Output Jumpers7 68-Pin Motion I/O Connector

1 2 3

456

7



The controllers require parameter loading in conjunction with motion trajectory function-level programming. The open-loop stepper controller parameters are expressed primarily in terms of steps, step count, and steps/second. Functions accessing closed-loop functions, which are only available on 7324 controllers, also use steps/revolution, encoder lines/revolution, and quadrature encoder counts. In pcRunner, LabVIEW, and BridgeVIEW application software you configure parameters in units including revolutions per minute (RPM) and revolutions per second per second (RPSPS).

Velocity ControlWith the velocity control mode, you can continue motion at a preprogrammed velocity until a limit or home switch is encountered or until a stop or kill function is executed.

Velocity ProfilingWith the velocity profiling mode, you can preprogram initial acceleration to a desired velocity that is maintained until a new velocity value is loaded. New velocity values may be loaded at any time. The system executes the most recent function and attains the new programmed velocity. Motion is continuous until a limit or home switch is encountered or until a stop or kill function is executed. This mode is useful for continuous contouring applications.

Note Stepper controllers do not use the acceleration value when changing to a new velocity, which can result in an abrupt motion for large velocity changes.

Event-Based Motion Profiling7324/7314 controllers offer the advanced feature of event-based motion profiling. Event-based motion profiling involves preloading motion control functions into onboard memory trigger buffers. You can then execute single or multiple move sequences using digital I/O trigger events. Triggers can be external I/O events or manual trigger functions sent by the host computer under function control. You can use the event-based motion profiling mode for semi-autonomous operation or for precise coordination with external events.



Trajectory ParametersThe trajectory parameters the controllers use are expressed in terms of steps for open-loop functions or quadrature counts for closed-loop functions.

The controllers obtain closed-loop position and velocity control by using an incremental quadrature encoder for feedback. All position data is referred to in quadrature counts. You can determine quadrature counts with the following equation:

Encoder Lines Per Index Period × 4

The encoder resolution is the number of encoder lines between consecutive encoder indexes (marker or Z-bit). If the encoder does not have an index output, the resolution is referred to as lines per revolution for rotary encoders and as lines per inch (or millimeters) for linear encoders.

Refer to the ValueMotion Software Reference Manual for specific information on loading trajectory parameters to your 7324/7314 controller.

Position Value LoadingFor closed-loop stepper operation, position is specified in quadrature counts as a signed number. The number of quadrature counts per revolution depends upon the incremental encoder used for feedback.

For open-loop stepper operation, position is specified in step counts as a signed number. The number of step counts per revolution depends upon the type of stepper driver and motor being used. For example, a stepper motor with 1.8°/step (200 steps/revolution) used in conjunction with a x10 microstep driver would have an effective resolution of 2,000 steps per revolution. 7324/7314 controllers support all full, half, and microstep applications.

Velocity Value LoadingVelocity is expressed as the change in position divided by time. For closed-loop stepper operation, position is specified in quadrature counts. For open-loop stepper operation, position is specified in step counts. You



can use the following formulas to convert revolutions per minute (RPM) to quadrature or step counts per second:

• Quadrature counts per second:

Velocity = (Velocity in RPM) × (Encoder Lines) × (4) × (1/60)

• Step counts per second:

Velocity = (Velocity in RPM) × (Driver Steps/Motor Step) × (Motor Steps/Rev) × (1/60)

To determine the driver steps/motor step, configure the stepper driver. The driver steps/motor steps ratio is 1 for full step, 1/2 for half step, and 1/n for microstep where n is the microstep value.

Acceleration Value LoadingAcceleration is expressed as the change in velocity divided by time, which is equivalent to change in position divided by time divided by time. For closed-loop stepper operation, position is specified in quadrature counts. For open-loop stepper operation, position is specified in step counts. Use the following formulas to convert revolutions per second per second (RPSPS) to quadrature or step counts per second per second:

• Quadrature counts per second per second:

Acceleration = (Acceleration in RPSPS) × (Encoder Lines) × (4)

• Step counts per second per second:

Acceleration = (Acceleration in RPSPS) × (Driver Steps/Motor Step) × (Motor steps/Rev)

To determine the driver steps/motor step, configure the stepper driver. The driver steps/motor steps ratio is 1 for full step, 1/2 for half step, and 1/n for microstep where n is the microstep value.


4Signal Connections

This chapter describes how to make input and output signal connections to the 7324/7314 controllers.

Note Throughout this document, a line above a signal name indicates that the signal is active-low.

Chapter 4 Signal Connections


Motion I/O Connector

Figure 4-1 shows the pin assignments for the 68-pin motion I/O connector on the 7324/7314 controllers.

Figure 4-1. 68-Pin Stepper Pin Assignment

Analog Reference (Output)1

Analog Input 31

Analog Input 11

Reserved

Reserved

Reserved

Reserved

Breakpoint 3Breakpoint 1

Digital Ground

Axis 4 Inhibit

Trigger 4

Axis 4 Home Switch

Digital Ground

Digital GroundAxis 4 Dir (CCW)

Axis 3 Inhibit

Trigger 3

Axis 3 Home Switch

Digital Ground Digital Ground

Axis 3 Dir (CCW)

Axis 2 InhibitTrigger 2

Axis 2 Home SwitchDigital Ground

Digital Ground

Axis 2 Dir (CCW)

Axis 1 InhibitTrigger 1

Axis 1 Home Switch

Digital Ground

Digital GroundAxis 1 Dir (CCW)

Analog Input Ground1

Analog Input 21

Reserved

Reserved

Reserved

Breakpoint 4

Breakpoint 2

Analog Input 41

Reserved

Host +5 V

Axis 4 Reverse Limit Switch

Axis 4 Forward Limit Switch

Axis 4 Encoder Index

Axis 4 Encoder Phase B

Axis 4 Encoder Phase AAxis 4 Step (CW)





Axis 3 Encoder Phase A

Axis 3 Step (CW)






Axis 2 Step (CW)





Axis 1 Encoder Phase AAxis 1 Step (CW)1 35

2 36

3 37

4 38

5 39

6 40

7 41

8 42

9 43

10 44

11 45

12 46

13 47

14 48

15 49

16 50

17 51

18 52

19 53

20 54

21 55

22 56

23 57

24 58

25 59

26 60

27 61

28 62

29 63

30 64

31 65

32 66

33 67

34 68

1Not connected on 7314 controllers



Table 4-1 describes the signals on the I/O connectors.

External Connector Wiring RecommendationsThe external connectors are divided into five separate sections for the purpose of wiring descriptions. Four of the sections are identical in pinout, format, and connector configuration. Each of these four identical sections corresponds to an individual axis controller circuit. The fifth section is the bus power interlock section.

Each per-axis motion I/O connector subsection consists of four functional areas:

• Motor drive outputs

• Encoder feedback inputs

• Limit and home switch inputs

• Related motion I/O port bits

Caution You must wire these four function groups separately from each other to prevent noise or signal crosstalk from affecting adjacent signal groups. Failure to take these simple precautions may cause faulty operation.

Table 4-1. Signal Descriptions for I/O Connector Pins

Signal Name Reference Direction Description

Axis <1..4> Dir (CCW) Digital Ground Output Motor direction or counter-clockwise control

Axis <1..4> Step (CW) Digital Ground Output Motor step or clockwise control

Axis <1..4> Encoder Phase A Digital Ground Input Closed-loop only—phase A encoder input

Axis <1..4> Encoder Phase B Digital Ground Input Closed-loop only—phase B encoder input

Axis <1..4> Encoder Index Digital Ground Input Closed-loop only—index encoder input

Axis <1..4> Home Switch Digital Ground Input Home switch

Axis <1..4> Forward Limit Switch

Digital Ground Input Forward/clockwise limit switch

Axis <1..4> Reverse Limit Switch

Digital Ground Input Reverse/counter-clockwise limit switch

Axis <1..4> Inhibit Digital Ground Output Drive inhibit

Trigger <1..4> Digital Ground Input Input bit <1..4>

Breakpoint <1..4> Digital Ground Output Output bit <1..4>

Host +5 V Digital Ground Output +5 V— host bus interlock

Analog Input Ground — — Reference for analog inputs

Analog Input <1..4> Analog Input Ground Input 8-bit analog input

Analog Reference (output) Analog Input Ground Output +5 V—analog reference level

Digital Ground — — Reference for digital I/O



It is important to note that the 7324/7314 I/O connector provides numerous ground connections. Proper use of these ground connections will help to prevent unwanted signal disturbance and noise. Use these ground connections as ground current return paths or as shield connections for proper signal grounding.

Bus Power SignalThe bus power +5 V signal is available for bus monitoring and interlock purposes. It is not intended to power external circuitry or components. Current draw should not exceed 100 mA.

Trigger, Breakpoint, and Inhibit SignalsThe following sections describe hardware jumper selection and the specifications for trigger, breakpoint, and inhibit signal interconnection. For correct operation, you must execute motion system setup, including I/O port software initialization, using the ValueMotion functions before you can use the trigger, breakpoint, and inhibit signals.

The controllers create the trigger, breakpoint, and inhibit signals from a single 8-bit bidirectional port. I/O port bits <1..4> are used for the trigger and breakpoint signals. When configured as an input, the I/O port bit can be used as a trigger or general-purpose input. When configured as an output, the I/O port bit can be used as either a breakpoint or general-purpose output. I/O port bits <5..8> are used for the inhibit signals. When configured as an output, the I/O port bit is the axis inhibit output. When configured as an input, the I/O port bit is a general-purpose input.

Input SignalsInput signals to the I/O port may be active-high or active-low. Proper operation depends upon correct setup and programming of I/O polarity and direction. Improper setup and programming may cause faulty operation.

Output SignalsI/O port signals configured as outputs are single-ended TTL with internally pulled-up open-collector buffers. Pull-up resistors are 3.3 kΩ to +5 V. These buffers can sink 64 mA.

Note The PXI controllers do not include a pull-up resistor on the breakpoint outputs. You must connect external pull-up resistors for proper operation of the breakpoint outputs when interfacing to TTL inputs that do not include built-in pull-up resistors.



Wiring Concerns

Caution Keep I/O port signals and I/O port grounds wired separately from the motor drive signals. Wiring these signals near each other can cause faulty operation. Be sure to use adequate ground signal connections in conjunction with I/O port bit signal connections.

Jumper ConfigurationTwo hardware jumper locations are available for each I/O port bit on the 7324/7314 controller. One of these locations is for input signal configuration and the other is for output signal configuration. The jumpers are used in conjunction with I/O port configuration and polarity programming to properly set up the I/O port function. The jumpers must be properly installed and must correspond to the direction programmed to ensure correct operation of the I/O port bits.

Table 4-2 shows the I/O port bit assignments and the corresponding hardware jumpers.

Caution Never install both input and output jumpers for the same I/O port bit locations; for example, 1 and 9, 2 and 10, 3 and 11, and so on.

The 7324/7314 controllers have eight removable jumpers, located on input pins JP1 through JP4 and output pins JP13 through JP16 by default. Refer to Figures 3-1 and 3-2 in Chapter 3, Hardware Overview, for input/output jumper locations.

Table 4-2. Jumper Pin I/O Port Bit Correspondence

I/O Port Bit Number

Input Jumper Number

OutputJumper Number

1 JP1 JP9

2 JP2 JP10

3 JP3 JP11

4 JP4 JP12

5 JP5 JP13

6 JP6 JP14

7 JP7 JP15

8 JP8 JP16



I/O Port Hardware CircuitFigures 4-2 and 4-3 show simplified schematic diagrams of the hardware circuitry used by the I/O ports for input signal buffering and output signal drive, as well as the jumper locations.

Figure 4-2. Trigger and Breakpoint Hardware Circuitry

Figure 4-3. Inhibit Hardware Circuitry

74HC2441 kΩ1/8 W

To the I/O circuits

From the trigger bits onthe external connector

To the breakpoint bits onthe external connector

DGND

Vcc

Output Jumpers(JP<9..12>)

InputJumpers

(JP<1..4>)3.3 kΩ

74AS760

Vcc

3.3 kΩ1

1The PXI controllers do not include a pull-up resistor on the breakpoint outputs.

74HC2441 kΩ1/8 W

To the I/O circuits

To the inhibit bits onthe external connector

DGND

Vcc

Output JumpersJP<13..16>

Input JumpersJP<5..8>

3.3 kΩ

74AS760



The 7324/7314 controller protects input signals from over-voltage and misconnection of the I/O port bits. However, you must take care when making these and any other hardware wiring connections. 12 V input signals can be interfaced directly, but higher voltages should be avoided. With the 3.3 kΩ pull-up resistor, you can directly interface to open-collector signals.

Caution Excessive input voltages may cause component failure.

Limit and Home SwitchesLimit and home switch inputs can be software configured as active-high or active-low enabled single-ended signals. Limit and home switch inputs may be enabled and disabled through software. Unused limit inputs may be directly used as nondedicated, general-purpose digital input channels.

An active input signal on an enabled limit or home switch input causes motion to immediately decelerate or halt stop on the corresponding axis. Limit and home switch input signals perform special motion control functions during the Find Home function.

Note While limit switch transitions are edge-detected and stop motion, active inputs should remain active to prevent motion from proceeding further into the limit or in the limit direction. Pulsed signals cause motion to stop, but they do not prevent further motion profiles that are restarted beyond an active limit position.

Limit switch inputs are a per-axis, system-level enhancement on the 7324/7314 controllers and are not required for basic motion control. These inputs are part of a system solution for complete motion control. All motion control functions can be operated without limit switches except the Find Home function, which requires enabled limit inputs for operations.

Wiring ConcernsCaution Keep limit and home switch signals and their ground connections wired separately from the motor driver/amplifier signal connections. Wiring these signals near each other can cause faulty operation.



Limit and Home Switch Input CircuitFigure 4-4 shows a simplified schematic diagram of the circuit configuration used by the limit and home switch inputs for input signal buffering and detection.

Figure 4-4. Limit Switch and Home Switch Input Hardware Circuitry

The 7324/7314 controller provides protection for over-voltage inputs on the limit and home switch input signal. However, take care when making these and any other hardware wiring connections. 12 V input signals can be interfaced directly, but higher voltages must be avoided. The 3.3 kΩ pull-up resistor allows you to interface to open-collector signals.

Caution Excessive input voltages can cause erroneous operation and/or component failure.

Encoder Connections (7324 Controllers Only)Encoder signal inputs are single-ended TTL signals. Take care to observe the phasing of the Phase A and Phase B encoder quadrature signals to ensure that the direction of motor motion and encoder feedback signals are coincident and correctly related. For more information, see Figure 4-5.

Figure 4-5. Quadrature Encoder Phasing Diagram

74HC2441 kΩ1/8 W

From the externalconnector limitand home switch pins

To the limit and home switch circuits

DGND

Vcc

3.3 kΩ

Phase A

Phase B

Index



Wiring ConcernsThe encoder inputs are connected to quadrature decoder/counter circuits. You must minimize noise at this interface. Excessive noise on these input signals may result in loss of counts or extra counts and erroneous closed-loop motion operation. Verify the encoder connections before powering up the system.

Caution Wire encoder signals and their ground connections separately from the motor driver signal connections. Wiring these signals near each other causes mispositioning and faulty operation.

Encoder Signals7324 controllers expect quadrature encoder input feedback signals 90° out of phase from each other. Any deviation from this signal type, or excessive noise on the encoder signals, causes faulty operation and lost quadrature counts.

Note Determine quadrature counts by multiplying the encoder resolution in encoder lines by 4. The encoder resolution is the number of encoder lines between consecutive encoder indexes (marker or Z-bit). If the encoder does not have an index output, the resolution would be referred to as lines per revolution, or lines per unit of measure (in., cm, mm, and so on).

Encoder Index SignalYou can use the 7324 controllers with an active-low index (marker or Z-bit) input. This signal must be single-ended, TTL compatible, and properly phased in both polarity and sequence with respect to the Phase A and Phase B input signals. See Figure 4-5 for more information about the quadrature encoder phasing. The index state is defined when all three signals, Phase A, Phase B, and Index, are low. To avoid redundancy, the Index signal must be less than 360° of a full quadrature period. Improper Index signal connection and configuration may cause faulty operation during the Find Index function. If this function is not working properly, check the encoder index signal connection, polarity, and sequence.



Encoder Signal Input CircuitFigure 4-6 shows a simplified schematic diagram of the hardware circuit used by the encoder inputs for input signal buffering.

Figure 4-6. Encoder Feedback Input Hardware Circuitry

The 7324 controller provides protection for over-voltage inputs and misconnection of the Encoder Input signals. However, take care when making these and any other hardware wiring connections. The 3.3 kΩ pull-up resistor allows you to connect to open-collector signals.

Caution Excessive input voltages can cause component failure.

Digital I/O ConnectorYou can program the digital I/O port for general-purpose digital I/O functionality. The 24-bit digital I/O port is configured in hardware as three 8-bit digital I/O ports. The three byte wide 8-bit ports are referred to as ports A, B, and C. The auxiliary 24-bit digital I/O on the PCI controllers is accessed from a 68-pin connector as shown in Figure 4-7. The digital I/O on the PXI controllers is accessed from a 50-pin connector as shown in Figure 4-8.

74HC244

From the externalconnector encoderinput pins

To the quadrature decoder circuit

DGND

Vcc

1 kΩ1/8 W

3.3 kΩ



Figure 4-7. 68-Pin Digital I/O Connector

Reserved

Digital Ground

Reserved

Reserved

Digital Ground

Reserved

Digital I/O 24

Digital GroundDigital I/O 21

Digital I/O 20

Digital Ground

Digital I/O 17

Digital I/O 16

Digital I/O 15

Digital GroundDigital Ground

Digital Ground

Digital I/O 10

Digital I/O 9

Digital I/O 8 Digital Ground

Digital I/O 5

Digital I/O 4Digital Ground

Digital I/O 1Reserved

Reserved

Reserved

ReservedReserved

Reserved

Reserved

Reserved+5 V

Digital Ground

Reserved

Digital Ground

Reserved

Digital Ground

Digital I/O 23

Digital I/O 22

Reserved

Reserved

Digital Ground

Digital I/O 19

Digital I/O 18

Digital Ground

Digital Ground

Digital I/O 14Digital I/O 13

Digital I/O 12

Digital I/O 11

Digital Ground

Digital Ground

Digital I/O 7

Digital I/O 6

Digital Ground

Digital I/O 3

Digital I/O 2

Digital Ground

Digital Ground

Digital Ground

Reserved

Digital Ground

Reserved

Digital Ground

Digital GroundDigital Ground1 35

2 36

3 37

4 38

5 39

6 40

7 41

8 42

9 43

10 44

11 45

12 46

13 47

14 48

15 49

16 50

17 51

18 52

19 53

20 54

21 55

22 56

23 57

24 58

25 59

26 60

27 61

28 62

29 63

30 64

31 65

32 66

33 67

34 68



Figure 4-8. 50-Pin Digital I/O Connector

Port A consists of digital I/O bits 1 through 8 available on the digital I/O connector. Always configure these bits as inputs. The data read from the Port A bits will always reflect the actual input bit levels. If Port A is configured for output bits, writing output data to Port A does nothing. For more information, see Figure 4-9.

+5 V

Digital I/O 1

Digital I/O 2

Digital I/O 3

Digital I/O 4

Digital I/O 5

Digital I/O 6

Digital I/O 7

Digital I/O 8

Digital I/O 9

Digital I/O 10

Digital I/O 11

Digital I/O 12

Digital I/O 13

Digital I/O 14

Digital I/O 15

Digital I/O 16

Digital I/O 17

Digital I/O 18

Digital I/O 19

Digital I/O 20

Digital I/O 21

Digital I/O 22

Digital I/O 23

Digital I/O 24

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

Digital Ground

49 50

47 48

45 46

43 44

41 42

39 40

37 38

35 36

33 34

31 32

29 30

27 28

25 26

23 24

21 22

19 20

17 18

15 16

13 14

11 12

9 10

7 8

5 6

3 4

1 2



Figure 4-9. Digital I/O Port Configuration

Port B consists of digital I/O bits 9 through 16 available on the digital I/O connector. Always configure these bits as outputs. The data written to the Port B bits reflects the actual output bit levels. Port B cannot be configured for input bits. Reading input data from Port B returns the programmed output values. See Figure 4-9 for more information.

Readback of the Port B bit data can be very useful in programming these bits. By reading back the present output bit settings and then using logical binary functions, you can directly mask and set output data values for this port. If the output data is independent of the present value of output Port B,

Digital I/0 1Digital I/0 2Digital I/0 3Digital I/0 4Digital I/0 5Digital I/0 6Digital I/0 7

Digital I/0 8

Port A

Inputto

Controller


Digital I/0 16

Port B

Outputfrom

Controller


Digital I/0 24

Port C

Inputor

Outputfrom

Controller



it is also simple to write the new desired bit levels to the port directly overriding the previous values.

Port C consists of digital I/O bits 17 through 24 available on the digital I/O connector. You can configure these bits as a byte wide input or output port. You can configure Port C direction as all output bits or all input bits by using two required configuration settings.

Complete the following steps to set the Port C direction:

1. Set the jumper (item 3 in Figure 3-1, PCI Controller Parts Locator Diagram, for PCI, item 3 in Figure 3-2, PXI Controller Parts Locator Diagram, for PXI) to input or output to select the hardware direction configuration for Port C. Refer to Figure 4-10 for more information on jumper configuration.

2. Use the Set Aux. I/O Port Output function to set up the desired Port C direction of the Port C data byte. Refer to your ValueMotion Software Reference Manual for more information on software functions.

Figure 4-10. PCI- and PXI-Step Port C Direction Setting

Data can be written to the Port C bits when they are configured as output bits, and the outputs will reflect the desired output bit levels set. Reading data from Port C returns the actual data input or user-programmed output values for the bits depending on Port C direction selected.

Readback of the Port C bit data can be very useful in programming these bits. By reading back the present output bit settings and then using logical binary functions, you can directly mask and set output data values for this port. If the output data is independent of the present value of the output Port C, it is also simple to write the new desired bit levels to the port directly.

Output Input

Motion I/OConnector



ADC InputsThe 7324 controllers contain a multi-channel analog-to-digital converter (ADC) for basic analog input operations. Both the PCI and PXI controllers provide four analog input channels on the external 68-pin motion connector. The PXI controllers include an additional four channels, all eight of which are available on an internal 10-pin connector as shown in Figure 4-11.

Figure 4-11. External Pin Assignment for the 10-Pin ADC Connector

You can configure the multi-channel ADC on the controller for simple A/D conversion or motion integrated functionality. The ADC is a 0 and 5 V range 8-bit converter. You can use the A/D input channels independently as analog inputs.

You can read back the analog voltage input digital representation on any of the controller’s eight ADC channels by using the Read A/D function. The values read back will be in the following range:

0 ≤ Analog Input Number Readback Value ≤ 255

You can read any channel by indicating the desired channel number when using the A/D readback function.

Analog Reference (output)

Analog Input 7

Analog Input 5Analog Input 3

Analog Input 1

Analog Input Ground

Analog Input 8

Analog Input 6

Analog Input 4

Analog Input 2

9 10

7 8

5 6

3 4

1 2

© National Instruments Corporation A-1 7324/7314 Hardware User Manual

ASpecifications

This appendix lists the specifications of your 7324/7314 controller. These specifications are typical at 25 °C unless otherwise noted.

Stepper PerformanceMax step frequency................................ 750,000 steps/s

Absolute position range ......................± 231 steps

Max relative move size .......................± 221 steps

Max encoder frequency.......................1 MHz

Motion Digital I/O

Input Circuits (Including Encoder Feedback, Limit Switches, and Trigger Inputs)Input voltage range................................. 0 to 12 V

Input low voltage ................................... 0.8 V

Input high voltage .................................. 2 V

Output Circuits (Including Step, Direction, andBreakpoint Outputs)Output voltage range.............................. 0 to 5 V

Output low voltage................................. < 0.6 V at 64 mA

Output high voltage................................ 3.3 k pull-up to +5 V (open collector)(pull-up not provided on PXI breakpoint outputs)

Appendix A Specifications

7324/7314 Hardware User Manual A-2 www.natinst.com

24-Bit Digital I/OInput voltage range .................................0 to 5 V

Input low voltage ....................................0.8 V

Input high voltage...................................2 V

Output voltage range ..............................0 to 5 V

Output low voltage .................................< 0.5 V at 24 mA

Output high voltage ................................> 2.4 V at 3 mA

Analog Input (7324 Only)Input voltage range .................................0 to Vcc (Vcc = +5 V ± 3%)

Resolution...............................................8 bits

Power Requirements (Max)+5 (± 3%)................................................1.2 A

+12 V (±3%)...........................................0 A

–12 V (±3%) ...........................................0 A

Power consumption ................................6 W

PhysicalDimensions (Not Including Connectors)PCI controllers ........................................17.5 by 9.9 cm (6.9 by 3.9 in.)

PXI controllers........................................16 by 10 cm (6.3 by 3.9 in.)

Motion I/O ConnectorPCI controllers ........................................68-pin female VHDCI type

PXI controllers........................................68-pin male SCSI-II type

A/D ConnectorPXI-7324 ................................................10-pin male box-header

Appendix A Specifications

© National Instruments Corporation A-3 7324/7314 Hardware User Manual

Digital I/O ConnectorPCI controllers ....................................... 68-pin female VHDCI type

PXI controllers ....................................... 50-pin male box-header

EnvironmentOperating temperature............................ 0 to 55 °C

Storage temperature ............................–20 to 70 °C

Relative humidity range ......................10 to 90% (noncondensing)

© National Instruments Corporation B-1 7324/7314 Hardware User Manual

BCable Connector Descriptions

This appendix describes the connectors on the optional cables for your 7324/7314 controller.

Figure B-1 shows the pin assignments for the 50-pin motion connector. This connector is available when you use the SH68-C68-S shielded cable assembly and the 68M-50F Step Bulkhead Cable Adapter with the PCI controllers, or when you use the SH68-68-S shielded cable assembly and the 68M-50F Step Bulkhead Cable Adapter with the PXI controllers.

Figure B-1. 50-Pin Stepper Connector Pin Assignment

Digital Ground

Axis 4 Inhibit

Trigger/Breakpoint 4

Axis 4 Home Switch

Digital Ground

Digital Ground

Axis 4 Dir (CCW)

Axis 3 InhibitTrigger/Breakpoint 3

Axis 3 Home Switch

Digital Ground

Digital Ground

Axis 3 Dir (CCW)

Axis 2 Inhibit

Trigger/Breakpoint 2Axis 2 Home Switch

Digital Ground

Digital Ground

Axis 2 Dir (CCW)

Axis 1 InhibitTrigger/Breakpoint 1

Axis 1 Home Switch

Digital GroundDigital Ground

Axis 1 Dir (CCW)

Host +5 V




Axis 4 Step (CW)








Axis 3 Step (CW)


Axis 2 Forward Limit SwitchAxis 2 Encoder Index



Axis 2 Step (CW)






Axis 1 Step (CW)

49 50

47 48

45 46

43 44

41 42

39 40

37 38

35 36

33 34

31 32

29 30

27 28

25 26

23 24

21 22

19 20

17 18

15 16

13 14

11 12

9 10

7 8

5 6

3 4

1 2

© National Instruments Corporation C-1 7324/7314 Hardware User Manual

CTechnical Support Resources

This appendix describes the comprehensive resources available to you in the Technical Support section of the National Instruments Web site and provides technical support telephone numbers for you to use if you have trouble connecting to our Web site or if you do not have internet access.

NI Web SupportTo provide you with immediate answers and solutions 24 hours a day, 365 days a year, National Instruments maintains extensive online technical support resources. They are available to you at no cost, are updated daily, and can be found in the Technical Support section of our Web site at www.natinst.com/support .

Online Problem-Solving and Diagnostic Resources• KnowledgeBase—A searchable database containing thousands of

frequently asked questions (FAQs) and their corresponding answers or solutions, including special sections devoted to our newest products. The database is updated daily in response to new customer experiences and feedback.

• Troubleshooting Wizards—Step-by-step guides lead you through common problems and answer questions about our entire product line. Wizards include screen shots that illustrate the steps being described and provide detailed information ranging from simple getting started instructions to advanced topics.

• Product Manuals—A comprehensive, searchable library of the latest editions of National Instruments hardware and software product manuals.

• Hardware Reference Database—A searchable database containing brief hardware descriptions, mechanical drawings, and helpful images of jumper settings and connector pinouts.

• Application Notes—A library with more than 100 short papers addressing specific topics such as creating and calling DLLs, developing your own instrument driver software, and porting applications between platforms and operating systems.

Appendix C Technical Support Resources

7324/7314 Hardware User Manual C-2 www.natinst.com

Software-Related Resources• Instrument Driver Network —A library with hundreds of instrument

drivers for control of standalone instruments via GPIB, VXI, or serial interfaces. You also can submit a request for a particular instrument driver if it does not already appear in the library.

• Example Programs Database—A database with numerous, non-shipping example programs for National Instruments programming environments. You can use them to complement the example programs that are already included with National Instruments products.

• Software Library —A library with updates and patches to application software, links to the latest versions of driver software for National Instruments hardware products, and utility routines.

Worldwide SupportNational Instruments has offices located around the globe. Many branch offices maintain a Web site to provide information on local services. You can access these Web sites from www.natinst.com/worldwide .

If you have trouble connecting to our Web site, please contact your local National Instruments office or the source from which you purchased your National Instruments product(s) to obtain support.

For telephone support in the United States, dial 512 795 8248. For telephone support outside the United States, contact your local branch office:

Australia 03 9879 5166, Austria 0662 45 79 90 0, Belgium 02 757 00 20, Brazil 011 284 5011, Canada (Ontario) 905 785 0085, Canada (Québec) 514 694 8521, China 0755 3904939, Denmark 45 76 26 00, Finland 09 725 725 11, France 01 48 14 24 24, Germany 089 741 31 30, Hong Kong 2645 3186, India 91805275406, Israel 03 6120092, Italy 02 413091, Japan 03 5472 2970, Korea 02 596 7456, Mexico (D.F.) 5 280 7625, Mexico (Monterrey) 8 357 7695, Netherlands 0348 433466, Norway 32 27 73 00, Singapore 2265886, Spain (Madrid) 91 640 0085, Spain (Barcelona) 93 582 0251, Sweden 08 587 895 00, Switzerland 056 200 51 51, Taiwan 02 2377 1200, United Kingdom 01635 523545

© National Instruments Corporation G-1 7324/7314 Hardware User Manual

Glossary

Prefix Meanings Value

µ- micro- 10– 6

m- milli- 10–3

c- centi 10–2

k- kilo- 103

M- mega- 106

Numbers/Symbols

° degrees

% percent

± plus or minus

+ positive of, or plus

– negative of, or minus

/ per

Ω ohm

+5 V +5 VDC source signal

A

A amperes

absolute mode treat the target position loaded as position relative to zero while making a move

absolute position signal position relative to zero

active-high a signal is active when its value goes high (1)

active-low a signal is active when its value goes low (0)

Glossary

7324/7314 Hardware User Manual G-2 www.natinst.com

A/D analog-to-digital

address character code that identifies a specific location (or series of locations) in memory

amplifier the drive that delivers power to operate the motor in response to low level control signals. In general, the amplifier is designed to operate with a particular motor type—you cannot use a stepper drive to operate a DC brush motor, for instance

anticipation time breakpoint

used to pre-load a desired anticipation time relative to the end of a programmed motion trajectory—when the position corresponding to the desired anticipation time is reached, an external breakpoint signal transitions on a dedicated I/O port output line for the selected axis. The anticipation breakpoint function is similar to, and shares the same resources as, the position breakpoint function.

API application programming interface

axis unit that controls a motor or any similar device

axis <1..4> Dir (CCW) stepper—axis 1 through 4 motor direction or counter-clockwise control

Axis <1..4> Encoder Phase A

closed-loop—axis 1 through 4 phase A encoder input

Axis <1..4> Encoder Phase B

closed-loop—axis 1 through 4 phase B encoder input

Axis <1..4> Forward Limit

axis 1 through 4 forward/clockwise limit switch

Axis <1..4> Home Switch

axis 1 through 4 home switch

Axis <1..4> Inhibit stepper—axis 1 through 4 drive inhibit

Axis <1..4> Reverse Limit

axis 1 through 4 reverse/counter-clockwise limit switch

Axis <1..4> Step (CW) stepper—axis 1 through 4 motor step or clockwise control

Glossary


B

b bit—one binary digit, either 0 or 1

base address memory address that serves as the starting address for programmable registers. All other addresses are located by adding to the base address.

binary a number system with a base of 2

buffer temporary storage for acquired or generated data (software)

bus the group of conductors that interconnect individual circuitry in a computer. Typically, a bus is the expansion vehicle to which I/O or other devices are connected.

byte eight related bits of data, an eight-bit binary number. Also used to denote the amount of memory required to store one byte of data.

C

CCW counter-clockwise—implies direction of rotation of the motor

CL closed-loop—a broadly applied term relating to any system where output is measured and compared to input. The output is then adjusted to reach the desired condition. In motion control this term applies to a system using an encoder or any feedback device.

common reference signal for digital I/O

CPU central processing unit

crosstalk an unwanted signal on one channel due to an input on a different channel

CW clockwise—implies direction of motor rotation

D

DC direct current

dedicated assigned to a particular function

DGND digital ground signal

Glossary


digital I/O port a group of digital input/output signals

DIP dual inline package

DLL dynamic link library—provides the API for the controllers

drivers software that controls a specific controller

E

encoder device that translates mechanical motion into electrical signals; used for monitoring position or velocity

encoder resolution the number of encoder lines between consecutive encoder indexes (marker or Z-bit). If the encoder does not have an index output the encoder resolution can be referred to as lines per revolution.

F

filtering a type of signal conditioning that filters unwanted signals from the signal being measured

filter parameters indicates the control loop parameter gains (PID gains) for a given axis

following errortrip point

the difference between the instantaneous function trajectory position and the feedback position

freewheel the condition of a motor when power is de-energized and the motor shaft is free to turn

full-step full-step mode of a stepper motor—for a two phase motor this is done by energizing both windings or phases simultaneously

G

Gnd ground

GND ground

Glossary


H

half-step mode of a stepper motor—for a two phase motor this is done by alternately energizing two windings and then only one. In half step mode, alternate steps are strong and weak but there is significant improvement in low-speed smoothness over the full-step mode.

hex hexadecimal

home switch (input) a reference position in a motion control system derived from a mechanical datum or switch. Often designated as the zero position.

host computer computer into which the motion controller is plugged

I

ID identification

in. inches

index marker between consecutive encoder revolutions

I/O input/output—the transfer of data to and from a computer system involving communications channels, operator interface devices, and/or motion control interfaces

interlock 5 V bus voltage monitoring circuitry present on accessories

inverting the polarity of a switch (limit switch, home switch, etc.) in active state. If these switches are active-low they are said to have inverting polarity.

IRQ interrupt request

K

k kilo—the standard metric prefix for 1,000, or 103, used with units of measure such as volts, hertz, and meters

K kilo—the prefix for 1,024, or 210, used with B in quantifying data or computer memory

Glossary


L

latching a signal that maintains its value while in a given state, as opposed to a signal that momentarily pulses when entering or exiting a state

limit switch (input) sensors that alert the control electronics that physical end of travel is being approached and that the motion should stop

M

m meters

microstep mode of a stepper motor—subdividing the basic motor step by proportioning the current in the windings. In this way the step size is reduced and low speed smoothness is dramatically improved

modulo position treat the target position as within the range of total quadrature counts per revolution for an axis

N

noise an undesirable electrical signal—noise comes from external sources such as the AC power line, motors, generators, transformers, fluorescent lights, soldering irons, CRT displays, computers, electrical storms, welders, radio transmitters, and internal sources such as semiconductors, resistors, and capacitors. Noise corrupts signals you are trying to send or receive.

noninverting the polarity of a switch (limit switch, home switch, etc.) in active state. If these switches are active-high, they are said to have non-inverting polarity.

O

OL open-loop—refers to a motion control system where no external sensors (feedback devices) are used to provide position or velocity correction signals

Glossary


P

PID proportional-integral-derivative control loop

port (1) a communications connection on a computer or a remote controller (2) a digital port, consisting eight lines of digital input and/or output

position breakpoint position breakpoint for an encoder can be set in absolute or relative quadrature counts. When the encoder reaches a position breakpoint, the associated breakpoint output immediately transitions.

power cycling turning the host computer off and then back on, which resets the controller

prestore trigger buffer function storage, which stores a series of functions in a buffer.

pull-in move when stepper motors are run in closed-loop mode, the encoder feedback is used to verify the position of an axis when the motion ends. The motion controller then functions the axis to do a final move so that it is at the desired target position.

PWM Pulse Width Modulation—a method of controlling the average current in a motors phase windings by varying the on-time (duty cycle) of transistor switches

Q

quadrature counts the encoder line resolution times four

R

RAM random-access memory

relative breakpoint sets the position breakpoint for an encoder in relative quadrature counts

relative mode treat the target position loaded as position relative to current position while making a move

relative position position relative to current position

ribbon cable a flat cable in which the conductors are side by side

Glossary


rotary axis an axis for which rotary counts are loaded. The axis moves to the target position by taking the shortest path, either forward or backwards, while remaining within the one revolution defined by the loaded rotary counts.

RPM revolutions per minute—units for velocity.

RPSPS or RPS/S revolutions per second squared—units for acceleration and deceleration.

S

s seconds

stepper specifies an axis that controls a stepper motor

T

toggle changing state from high to low, back to high, and so on

torque force tending to produce rotation

trapezoidal profile a typical motion trajectory, where a motor accelerates up to the programmed velocity using the programmed acceleration, traverses at the programmed velocity, then decelerates at the programmed acceleration to the target position

trigger any event that causes or starts some form of data capture

TTL transistor-transistor logic

V

V volts

VCC positive voltage supply

velocity mode move the axis continuously at the specified velocity

Glossary


W

watchdog a timer task that shuts down (resets) the controller if any serious error occurs

word the standard number of bits that a processor or memory manipulates at one time, typically 8-, 16-, or 32-bit

Z

Z-bit marker between consecutive encoder revolutions

© National Instruments Corporation I-1 7324/7314 Hardware User Manual

Index

Numbers+5 V signal

bus power signal, 4-4description (table), 4-3

24-bit digital I/O connector. See digital I/O connector.

7324/7314 controllers. See also hardware overview.

motion signal and motion I/O connections, 1-3

National Instruments application software, 1-2

optional equipment, 1-3overview, 1-1requirements for getting started, 1-1software programming choices, 1-2

Aacceleration value loading, 3-5ADC inputs

ADC overview, 4-15external pin assignments (figure), 4-15

Analog Input Ground (table), 4-3analog input specifications, A-2Analog Input<1..4> signal (table), 4-3Analog Reference (output) signal (table), 4-3Axis<1..4> Dir (CCW) signal (table), 4-3Axis<1..4> Encoder Index signal (table), 4-3Axis<1..4> Encoder Phase A signal (table), 4-3Axis<1..4> Encoder Phase B signal (table), 4-3Axis<1..4> Forward Limit Switch signal

(table), 4-3Axis<1..4> Home Switch signal (table), 4-3Axis<1..4> Inhibit signal (table), 4-3

Axis<1..4> Reverse Limit Switch signal (table), 4-3

Axis<1..4> Step (CW) signal (table), 4-3

BBreakpoint<1..4> signal (table), 4-3. See also

trigger, breakpoint, and inhibit signals.BridgeVIEW software, 1-2bus power signal, 4-4

Cconfiguration, 2-1connectors

digital I/O connector, 4-10 to 4-1450-pin connector pin assignments

(figure), 4-1268-pin connector pin assignments, 4-11port configuration, 4-13 to 4-14specifications, A-2

external connectorpreventing noise or crosstalk

(caution), 4-3wiring recommendations, 4-3 to 4-4

motion I/O connector pin assignments (figure), 4-2

optional cable connector pin assignments (figure), B-1

signal descriptions (table), 4-3

Ddiagnostic resources, online, C-1Digital Ground (table), 4-3digital I/O connector, 4-10 to 4-14

50-pin connector pin assignments (figure), 4-12

Index

7324/7314 Hardware User Manual I-2 www.natinst.com

68-pin connector pin assignments, 4-11port configuration, 4-13 to 4-14specifications, A-2

documentationabout this manual, ixconventions used in manual, ix-xrelated documentation, x

Eencoder connections (7324 controllers only),

4-8 to 4-10determining quadrature counts (note), 4-9encoder index signal, 4-9encoder signal input circuit, 4-10encoder signals, 4-9excessive input voltages (caution), 4-10quadrature encoder phasing diagram, 4-8wiring concerns, 4-9

environment specifications, A-3equipment, optional, 1-3event-based motion profiling, 3-3external connector

preventing noise or crosstalk (caution), 4-3

wiring recommendations, 4-3 to 4-4

Ffunctional modes, 3-2 to 3-3

event-based motion profiling, 3-3trapezoidal profile position control,

3-2 to 3-3velocity control, 3-3velocity profiling, 3-3

Hhardware installation, 2-1 to 2-2hardware overview, 3-1 to 3-5

functional modes, 3-2 to 3-3event-based motion profiling, 3-3trapezoidal profile position control,

3-2 to 3-3velocity control, 3-3velocity profiling, 3-3

parts locator diagramsPCI controller, 3-1PXI controller, 3-2

trajectory parameters, 3-4 to 3-5acceleration value loading, 3-5position value loading, 3-4velocity value loading, 3-4 to 3-5

home switches. See limit and home switches.Host +5 V signal (table), 4-3

Iinhibit signals. See trigger, breakpoint, and

inhibit signals.installation

hardware, 2-1 to 2-2software, 2-1

I/O connectors. See connectors.I/O port hardware circuit, 4-6 to 4-7

Jjumpers

configuration for trigger, breakpoint, and inhibit signals, 4-5

jumper pin I/O port correspondence (table), 4-5

Index

© National Instruments Corporation I-3 7324/7314 Hardware User Manual

LLabVIEW software, 1-2LabWindows/CVI software, 1-2limit and home switches, 4-7 to 4-8

excessive input voltages (caution), 4-8input circuit, 4-8wiring concerns (caution), 4-7

Mmanual. See documentation.motion digital I/O specifications, A-1

input circuits, A-1output circuits, A-1

NNational Instruments application software, 1-2National Instruments Web support, C-1 to C-2

Oonline problem-solving and diagnostic

resources, C-1optional cable connector pin assignments

(figure), B-1optional equipment, 1-3

Pparts locator diagrams

PCI controller, 3-1PXI controller, 3-2

physical specifications, A-2ports. See also digital I/O connector.

Port A, 4-13Port B, 4-13 to 4-14Port C direction setting, 4-14

position value loading, 3-4power requirement specifications, A-2

problem-solving and diagnostic resources, online, C-1

profilingevent-based motion profiling, 3-3velocity profiling, 3-3

Rrequirements for getting started, 1-1

Ssignal connections, 4-1 to 4-15

ADC inputs, 4-15bus power signal, 4-4digital I/O connector, 4-10 to 4-14

50-pin connector pin assignments (figure), 4-12

68-pin connector pin assignments, 4-11

port configuration, 4-13 to 4-14encoder connections (7324 controllers

only), 4-8 to 4-10determining quadrature counts

(note), 4-9encoder index signal, 4-9encoder signal input circuit, 4-10encoder signals, 4-9excessive input voltages

(caution), 4-10quadrature encoder phasing

diagram, 4-8wiring concerns, 4-9

external connector wiring recommendations, 4-3 to 4-4

jumper configuration, 4-5limit and home switches, 4-7 to 4-8

input circuit, 4-8wiring concerns, 4-7

motion I/O connector pin assignments (figure), 4-2

Index

7324/7314 Hardware User Manual I-4 www.natinst.com

overview, 1-3signal descriptions (table), 4-3trigger, breakpoint, and inhibit signals,

4-4 to 4-5input signals, 4-4I/O port hardware circuit, 4-6 to 4-7jumper configuration, 4-5output signals, 4-6wiring concerns, 4-5

softwareinstallation, 2-1National Instruments software, 1-2programming choices, 1-2

software-related resources, C-2specifications, A-1 to A-3

24-bit digital I/O, A-2analog input, A-2digital I/O connector, A-3environment, A-3motion digital I/O

input circuits, A-1output circuits, A-1

physical, A-2power requirements, A-2stepper performance, A-1

stepper performance specifications, A-1

Ttechnical support resources, C-1 to C-2trajectory parameters, 3-4 to 3-5

acceleration value loading, 3-5position value loading, 3-4velocity value loading, 3-4 to 3-5

trapezoidal profile position control, 3-2 to 3-3trigger, breakpoint, and inhibit signals,

4-4 to 4-5excessive input voltages (caution), 4-7input signals, 4-4

I/O port hardware circuit, 4-6 to 4-7inhibit hardware circuitry

(figure), 4-6trigger and breakpoint hardware

circuitry (figure), 4-6jumper configuration, 4-5motion digital I/O specifications, A-1output signals, 4-4wiring concerns, 4-5

Trigger<1..4> signal (table), 4-3

VValueMotion software, 1-2velocity control, 3-3velocity profiling, 3-3velocity value loading, 3-4 to 3-5

WWeb support from National Instruments,

C-1 to C-2online problem-solving and diagnostic

resources, C-1software-related resources, C-2

wiring recommendations for external connector, 4-3 to 4-4

Worldwide technical support, C-2

7324/7314 hardware user manual - national instruments · the 7324 closed-loop controllers control...

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